OpenRaiser/Intern-Atlas huggingface dataset:
Packaged Software Implementation Requirements Engineering by Small Software Enterprises
Venue: arXiv cs.SE 2021
Year: 2021

Small to medium sized business enterprises (SMEs) generally thrive because they have successfully done something unique within a niche market. For this reason, SMEs may seek to protect their competitive advantage by avoiding any standardization encouraged by the use of packaged software (PS). Packaged software implementation at SMEs therefore presents challenges relating to how best to respond to misfits between the functionality offered by the packaged software and each SME's business needs. An important question relates to which processes small software enterprises - or Small to Medium-Sized Software Development Companies (SMSSDCs) - apply in order to identify and then deal with these misfits. To explore the processes of packaged software (PS) implementation, an ethnographic study was conducted to gain in-depth insights into the roles played by analysts in two SMSSDCs. The purpose of the study was to understand PS implementation in terms of requirements engineering (or 'PSIRE'). Data collected during the ethnographic study were analyzed using an inductive approach. Based on our analysis of the cases we constructed a theoretical model explaining the requirements engineering process for PS implementation, and named it the PSIRE Parallel Star Model. The Parallel Star Model shows that during PSIRE, more than one RE process can be carried out at the same time. The Parallel Star Model has few constraints, because not only can processes be carried out in parallel, but they do not always have to be followed in a particular order. This paper therefore offers a novel investigation and explanation of RE practices for packaged software implementation, approaching the phenomenon from the viewpoint of the analysts, and offers the first extensive study of packaged software implementation RE (PSIRE) in SMSSDCs.
Terrain Adaptive Gait Transitioning for a Quadruped Robot using Model Predictive Control
Venue: arXiv cs.RO 2021
Year: 2021

Legged robots can traverse challenging terrain, use perception to plan their safe foothold positions, and navigate the environment. Such unique mobility capabilities make these platforms a perfect candidate for scenarios such as search and rescue, inspection, and exploration tasks. While traversing through such terrains, the robot's instability is a significant concern. Many times the robot needs to switch gaits depending on its environment. Due to the complex dynamics of quadruped robots, classical PID control fails to provide high stability. Thus, there is a need for advanced control methods like the Model Predictive Control (MPC) which uses the system model and the nature of the terrain in order to predict the stable body pose of the robot. The controller also provides correction to any external disturbances that result in a change in the desired behavior of the robot. The MPC controller is designed in MATLAB, for full body torque control. The controller performance was verified on Boston Dynamics Spot in Webots simulator. The robot is able to provide correction for external perturbations up to 150 N and also resist falls till 80 cm.
Instrument Space Selection for Kernel Maximum Moment Restriction
Venue: arXiv cs.LG 2021
Year: 2021

Kernel maximum moment restriction (KMMR) recently emerges as a popular framework for instrumental variable (IV) based conditional moment restriction (CMR) models with important applications in conditional moment (CM) testing and parameter estimation for IV regression and proximal causal learning. The effectiveness of this framework, however, depends critically on the choice of a reproducing kernel Hilbert space (RKHS) chosen as a space of instruments. In this work, we presents a systematic way to select the instrument space for parameter estimation based on a principle of the least identifiable instrument space (LIIS) that identifies model parameters with the least space complexity. Our selection criterion combines two distinct objectives to determine such an optimal space: (i) a test criterion to check identifiability; (ii) an information criterion based on the effective dimension of RKHSs as a complexity measure. We analyze the consistency of our method in determining the LIIS, and demonstrate its effectiveness for parameter estimation via simulations.
The Power of Exploiter: Provable Multi-Agent RL in Large State Spaces
Venue: arXiv cs.LG 2021
Year: 2021

Modern reinforcement learning (RL) commonly engages practical problems with large state spaces, where function approximation must be deployed to approximate either the value function or the policy. While recent progresses in RL theory address a rich set of RL problems with general function approximation, such successes are mostly restricted to the single-agent setting. It remains elusive how to extend these results to multi-agent RL, especially due to the new challenges arising from its game-theoretical nature. This paper considers two-player zero-sum Markov Games (MGs). We propose a new algorithm that can provably find the Nash equilibrium policy using a polynomial number of samples, for any MG with low multi-agent Bellman-Eluder dimension -- a new complexity measure adapted from its single-agent version (Jin et al., 2021). A key component of our new algorithm is the exploiter, which facilitates the learning of the main player by deliberately exploiting her weakness. Our theoretical framework is generic, which applies to a wide range of models including but not limited to tabular MGs, MGs with linear or kernel function approximation, and MGs with rich observations.
Understanding Neural Code Intelligence Through Program Simplification
Venue: arXiv cs.SE 2021
Year: 2021

A wide range of code intelligence (CI) tools, powered by deep neural networks, have been developed recently to improve programming productivity and perform program analysis. To reliably use such tools, developers often need to reason about the behavior of the underlying models and the factors that affect them. This is especially challenging for tools backed by deep neural networks. Various methods have tried to reduce this opacity in the vein of "transparent/interpretable-AI". However, these approaches are often specific to a particular set of network architectures, even requiring access to the network's parameters. This makes them difficult to use for the average programmer, which hinders the reliable adoption of neural CI systems. In this paper, we propose a simple, model-agnostic approach to identify critical input features for models in CI systems, by drawing on software debugging research, specifically delta debugging. Our approach, SIVAND, uses simplification techniques that reduce the size of input programs of a CI model while preserving the predictions of the model. We show that this approach yields remarkably small outputs and is broadly applicable across many model architectures and problem domains. We find that the models in our experiments often rely heavily on just a few syntactic features in input programs. We believe that SIVAND's extracted features may help understand neural CI systems' predictions and learned behavior.
Sub-trajectory Similarity Join with Obfuscation
Venue: arXiv cs.DB 2021
Year: 2021

User trajectory data is becoming increasingly accessible due to the prevalence of GPS-equipped devices such as smartphones. Many existing studies focus on querying trajectories that are similar to each other in their entirety. We observe that trajectories partially similar to each other contain useful information about users' travel patterns which should not be ignored. Such partially similar trajectories are critical in applications such as epidemic contact tracing. We thus propose to query trajectories that are within a given distance range from each other for a given period of time. We formulate this problem as a sub-trajectory similarity join query named as the STS-Join. We further propose a distributed index structure and a query algorithm for STS-Join, where users retain their raw location data and only send obfuscated trajectories to a server for query processing. This helps preserve user location privacy which is vital when dealing with such data. Theoretical analysis and experiments on real data confirm the effectiveness and the efficiency of our proposed index structure and query algorithm.
A Globally Normalized Neural Model for Semantic Parsing
Venue: arXiv cs.CL 2021
Year: 2021

In this paper, we propose a globally normalized model for context-free grammar (CFG)-based semantic parsing. Instead of predicting a probability, our model predicts a real-valued score at each step and does not suffer from the label bias problem. Experiments show that our approach outperforms locally normalized models on small datasets, but it does not yield improvement on a large dataset.
Hierarchical Task Learning from Language Instructions with Unified Transformers and Self-Monitoring
Venue: arXiv cs.AI 2021
Year: 2021

Despite recent progress, learning new tasks through language instructions remains an extremely challenging problem. On the ALFRED benchmark for task learning, the published state-of-the-art system only achieves a task success rate of less than 10% in an unseen environment, compared to the human performance of over 90%. To address this issue, this paper takes a closer look at task learning. In a departure from a widely applied end-to-end architecture, we decomposed task learning into three sub-problems: sub-goal planning, scene navigation, and object manipulation; and developed a model HiTUT (stands for Hierarchical Tasks via Unified Transformers) that addresses each sub-problem in a unified manner to learn a hierarchical task structure. On the ALFRED benchmark, HiTUT has achieved the best performance with a remarkably higher generalization ability. In the unseen environment, HiTUT achieves over 160% performance gain in success rate compared to the previous state of the art. The explicit representation of task structures also enables an in-depth understanding of the nature of the problem and the ability of the agent, which provides insight for future benchmark development and evaluation.
Unsupervised Learning for Cuboid Shape Abstraction via Joint Segmentation from Point Clouds
Venue: arXiv cs.CV 2021
Year: 2021

Representing complex 3D objects as simple geometric primitives, known as shape abstraction, is important for geometric modeling, structural analysis, and shape synthesis. In this paper, we propose an unsupervised shape abstraction method to map a point cloud into a compact cuboid representation. We jointly predict cuboid allocation as part segmentation and cuboid shapes and enforce the consistency between the segmentation and shape abstraction for self-learning. For the cuboid abstraction task, we transform the input point cloud into a set of parametric cuboids using a variational auto-encoder network. The segmentation network allocates each point into a cuboid considering the point-cuboid affinity. Without manual annotations of parts in point clouds, we design four novel losses to jointly supervise the two branches in terms of geometric similarity and cuboid compactness. We evaluate our method on multiple shape collections and demonstrate its superiority over existing shape abstraction methods. Moreover, based on our network architecture and learned representations, our approach supports various applications including structured shape generation, shape interpolation, and structural shape clustering.
Systematic Online Tuning of Multirotor UAVs for Accurate Trajectory Tracking Under Wind Disturbances and In-Flight Dynamics Changes
Venue: arXiv cs.RO 2021
Year: 2021

The demand for accurate and fast trajectory tracking for multirotor Unmanned Aerial Vehicles (UAVs) have grown recently due to advances in UAV avionics technology and application domains. In many applications, the multirotor UAV is required to accurately perform aggressive maneuvers in challenging scenarios like the presence of external wind disturbances or in-flight payload changes. In this paper, we propose a systematic controller tuning approach based on identification results obtained by a recently developed Deep Neural Networks with the Modified Relay Feedback Test (DNN-MRFT) algorithm. We formulate a linear equivalent representation suitable for DNN-MRFT using feedback linearization. This representation enables the analytical investigation of different controller structures and tuning settings, and captures the non-linearity trends of the system. With this approach, the trade-off between performance and robustness in design was made possible which is convenient for the design of controllers of UAVs operating in uncertain environments. We demonstrate that our approach is adaptive and robust through a set of experiments, where accurate trajectory tracking is maintained despite significant changes to the UAV aerodynamic characteristics and the application of wind disturbance. Due to the model-based system design, it was possible to obtain low discrepancy between simulation and experimental results which is beneficial for potential use of the proposed approach for real-time model-based planning and fault detection tasks. We obtained RMSE of $3.59 \; cm$ when tracking aggressive trajectories in the presence of strong wind, which is on par with state-of-the-art.
Learning stable reduced-order models for hybrid twins
Venue: arXiv cs.LG 2021
Year: 2021

The concept of Hybrid Twin (HT) has recently received a growing interest thanks to the availability of powerful machine learning techniques. This twin concept combines physics-based models within a model-order reduction framework-to obtain real-time feedback rates-and data science. Thus, the main idea of the HT is to develop on-the-fly data-driven models to correct possible deviations between measurements and physics-based model predictions. This paper is focused on the computation of stable, fast and accurate corrections in the Hybrid Twin framework. Furthermore, regarding the delicate and important problem of stability, a new approach is proposed, introducing several sub-variants and guaranteeing a low computational cost as well as the achievement of a stable time-integration.
Exploiting Emotional Dependencies with Graph Convolutional Networks for Facial Expression Recognition
Venue: arXiv cs.CV 2021
Year: 2021

Over the past few years, deep learning methods have shown remarkable results in many face-related tasks including automatic facial expression recognition (FER) in-the-wild. Meanwhile, numerous models describing the human emotional states have been proposed by the psychology community. However, we have no clear evidence as to which representation is more appropriate and the majority of FER systems use either the categorical or the dimensional model of affect. Inspired by recent work in multi-label classification, this paper proposes a novel multi-task learning (MTL) framework that exploits the dependencies between these two models using a Graph Convolutional Network (GCN) to recognize facial expressions in-the-wild. Specifically, a shared feature representation is learned for both discrete and continuous recognition in a MTL setting. Moreover, the facial expression classifiers and the valence-arousal regressors are learned through a GCN that explicitly captures the dependencies between them. To evaluate the performance of our method under real-world conditions we perform extensive experiments on the AffectNet and Aff-Wild2 datasets. The results of our experiments show that our method is capable of improving the performance across different datasets and backbone architectures. Finally, we also surpass the previous state-of-the-art methods on the categorical model of AffectNet.
Empirical Bayesian Independent Deeply Learned Matrix Analysis For Multichannel Audio Source Separation
Venue: arXiv cs.SD 2021
Year: 2021

Independent deeply learned matrix analysis (IDLMA) is one of the state-of-the-art supervised multichannel audio source separation methods. It blindly estimates the demixing filters on the basis of source independence, using the source model estimated by the deep neural network (DNN). However, since the ratios of the source to interferer signals vary widely among time-frequency (TF) slots, it is difficult to obtain reliable estimated power spectrograms of sources at all TF slots. In this paper, we propose an IDLMA extension, empirical Bayesian IDLMA (EB-IDLMA), by introducing a prior distribution of source power spectrograms and treating the source power spectrograms as latent random variables. This treatment allows us to implicitly consider the reliability of the estimated source power spectrograms for the estimation of demixing filters through the hyperparameters of the prior distribution estimated by the DNN. Experimental evaluations show the effectiveness of EB-IDLMA and the importance of introducing the reliability of the estimated source power spectrograms.
Self-supervised Depth Estimation Leveraging Global Perception and Geometric Smoothness Using On-board Videos
Venue: arXiv cs.CV 2021
Year: 2021

Self-supervised depth estimation has drawn much attention in recent years as it does not require labeled data but image sequences. Moreover, it can be conveniently used in various applications, such as autonomous driving, robotics, realistic navigation, and smart cities. However, extracting global contextual information from images and predicting a geometrically natural depth map remain challenging. In this paper, we present DLNet for pixel-wise depth estimation, which simultaneously extracts global and local features with the aid of our depth Linformer block. This block consists of the Linformer and innovative soft split multi-layer perceptron blocks. Moreover, a three-dimensional geometry smoothness loss is proposed to predict a geometrically natural depth map by imposing the second-order smoothness constraint on the predicted three-dimensional point clouds, thereby realizing improved performance as a byproduct. Finally, we explore the multi-scale prediction strategy and propose the maximum margin dual-scale prediction strategy for further performance improvement. In experiments on the KITTI and Make3D benchmarks, the proposed DLNet achieves performance competitive to those of the state-of-the-art methods, reducing time and space complexities by more than $62\%$ and $56\%$, respectively. Extensive testing on various real-world situations further demonstrates the strong practicality and generalization capability of the proposed model.
Towards Formal Verification of Password Generation Algorithms used in Password Managers
Venue: arXiv cs.CR 2021
Year: 2021

Password managers are important tools that enable us to use stronger passwords, freeing us from the cognitive burden of remembering them. Despite this, there are still many users who do not fully trust password managers. In this paper, we focus on a feature that most password managers offer that might impact the user's trust, which is the process of generating a random password. We survey which algorithms are most commonly used and we propose a solution for a formally verified reference implementation of a password generation algorithm. We use EasyCrypt as our framework to both specify the reference implementation and to prove its functional correctness and security.
PROST: Physical Reasoning of Objects through Space and Time
Venue: arXiv cs.CL 2021
Year: 2021

We present a new probing dataset named PROST: Physical Reasoning about Objects Through Space and Time. This dataset contains 18,736 multiple-choice questions made from 14 manually curated templates, covering 10 physical reasoning concepts. All questions are designed to probe both causal and masked language models in a zero-shot setting. We conduct an extensive analysis which demonstrates that state-of-the-art pretrained models are inadequate at physical reasoning: they are influenced by the order in which answer options are presented to them, they struggle when the superlative in a question is inverted (e.g., most <-> least), and increasing the amount of pretraining data and parameters only yields minimal improvements. These results provide support for the hypothesis that current pretrained models' ability to reason about physical interactions is inherently limited by a lack of real world experience. By highlighting these limitations, we hope to motivate the development of models with a human-like understanding of the physical world.
Shuffle Transformer: Rethinking Spatial Shuffle for Vision Transformer
Venue: arXiv cs.CV 2021
Year: 2021

Very recently, Window-based Transformers, which computed self-attention within non-overlapping local windows, demonstrated promising results on image classification, semantic segmentation, and object detection. However, less study has been devoted to the cross-window connection which is the key element to improve the representation ability. In this work, we revisit the spatial shuffle as an efficient way to build connections among windows. As a result, we propose a new vision transformer, named Shuffle Transformer, which is highly efficient and easy to implement by modifying two lines of code. Furthermore, the depth-wise convolution is introduced to complement the spatial shuffle for enhancing neighbor-window connections. The proposed architectures achieve excellent performance on a wide range of visual tasks including image-level classification, object detection, and semantic segmentation. Code will be released for reproduction.
Person Re-Identification with a Locally Aware Transformer
Venue: arXiv cs.CV 2021
Year: 2021

Person Re-Identification is an important problem in computer vision-based surveillance applications, in which the same person is attempted to be identified from surveillance photographs in a variety of nearby zones. At present, the majority of Person re-ID techniques are based on Convolutional Neural Networks (CNNs), but Vision Transformers are beginning to displace pure CNNs for a variety of object recognition tasks. The primary output of a vision transformer is a global classification token, but vision transformers also yield local tokens which contain additional information about local regions of the image. Techniques to make use of these local tokens to improve classification accuracy are an active area of research. We propose a novel Locally Aware Transformer (LA-Transformer) that employs a Parts-based Convolution Baseline (PCB)-inspired strategy for aggregating globally enhanced local classification tokens into an ensemble of $\sqrt{N}$ classifiers, where $N$ is the number of patches. An additional novelty is that we incorporate blockwise fine-tuning which further improves re-ID accuracy. LA-Transformer with blockwise fine-tuning achieves rank-1 accuracy of $98.27 \%$ with standard deviation of $0.13$ on the Market-1501 and $98.7\%$ with standard deviation of $0.2$ on the CUHK03 dataset respectively, outperforming all other state-of-the-art published methods at the time of writing.